Design and Analysis of Single Motor-Driven Deployable Grasping Mechanism for Non-Cooperative Space Debris

IF 3.4 3区计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Access Pub Date : 2025-02-19 DOI:10.1109/ACCESS.2025.3543731

Sajjad Manzoor;Yibo Wang;Kyungtae Kim;Qiang Lu;Youngjin Choi

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Abstract

In this paper, a new deployable grasping mechanism for non-cooperative space debris is proposed and developed. This grasping mechanism consists of three robotic fingers connected to a platform. Each finger is developed by combining a series of scissors mechanisms, in such a way that one mechanism drives the next. A half scissors mechanism is used at the end of finger as a its tip. These fingers are deployable and their length increases and decreases with the closing and opening of the scissors mechanism. Each deployable modules is equipped with a grasp driver mechanism, which can gradually bend the finger during the process of increase in its length, in order to accomplish the grasping of the non-cooperative space debris. Each finger is designed as an under-actuated mechanism, to save the development cost and make the finger lightweight. A special mechanism is developed in the platform of the grasping mechanism, such that single motor can be used to deploy and bend all the fingers, simultaneously. In the end, the validation of the working and effectiveness of the proposed deployable grasping mechanism is given through simulations and experimental work. It can be observed through the results that the proposed mechanism is able to grasp large objects with simultaneous deployment and bending of all fingers by using single motor.

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来源期刊

IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

9.80

自引率

7.70%

发文量

6673

审稿时长

6 weeks

期刊介绍： IEEE Access® is a multidisciplinary, open access (OA), applications-oriented, all-electronic archival journal that continuously presents the results of original research or development across all of IEEE''s fields of interest. IEEE Access will publish articles that are of high interest to readers, original, technically correct, and clearly presented. Supported by author publication charges (APC), its hallmarks are a rapid peer review and publication process with open access to all readers. Unlike IEEE''s traditional Transactions or Journals, reviews are "binary", in that reviewers will either Accept or Reject an article in the form it is submitted in order to achieve rapid turnaround. Especially encouraged are submissions on: Multidisciplinary topics, or applications-oriented articles and negative results that do not fit within the scope of IEEE''s traditional journals. Practical articles discussing new experiments or measurement techniques, interesting solutions to engineering. Development of new or improved fabrication or manufacturing techniques. Reviews or survey articles of new or evolving fields oriented to assist others in understanding the new area.